Abstract
Abstract. This work describes a control solution for real time object tracking in images acquired for a RPAS on an object inspection environment. This, controlling a 3-axis gimbal mechanism to control a camera orientation embedded to a RPAS, using its image processed for feedback. The objective of control is to maintain the target of interest at the center of the image plane. The proposed solution uses a YOLOv3 object detection model in order to detect the target object and determine, thru rotation matrices, the new desired angles to converge the object’s position to the center of the image. To compare results of the proposed control, a linear control was tuned using a linear PI algorithm. Simulation and practice experiments successfully tracked the desired object in real time using YOLOv3 in both control approaches presented.
Highlights
The use of RPAS (Remotely Piloted Aircraft System), named UAV (Unnamed Aerial Vehicle) equipped with multiple sensors has been increasing over the last few years in a wide range of industrial applications, included the oil and gas (O&G) industry, to perform tasks such as visual inspection of structures and components in areas where human access is limited and the activities are expensive, dangerous and high time-consuming
The YOLOv3 performance evaluation was realized employing a total of 3000 RGB images with 1920x1080 and 4096 x 3000 resolutions
We presented the design and implementation of a tracking control algorithm at an gimbal mechanism attached to the DJI M210 RTK v2 RPAS
Summary
The use of RPAS (Remotely Piloted Aircraft System), named UAV (Unnamed Aerial Vehicle) equipped with multiple sensors has been increasing over the last few years in a wide range of industrial applications, included the oil and gas (O&G) industry, to perform tasks such as visual inspection of structures and components in areas where human access is limited (i.e., offshore platforms) and the activities are expensive, dangerous and high time-consuming. One of the main components in the offshore platforms are the flexible risers, which are pipelines in charge of transporting oil, gas, water and cables between subsea structures and the platform on water surface (Salazar et al, 2020) (Wang et al, 2016). The inspection of this type of component, as shown, is done by industrial climbers who perform manual measurements and photographic record of point of interest.
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